To be presented to : Mr.

Wan Mohd Wardi bin

Wan Abdul Rahman
GROUP MEMBERS

MUHAMMAD HASMADI B. HASSIM
CD100095
NG KEI HOA
CD100333
NIK NUR MARDIAH BINTI NIK MD YUSUFF
CD100071
NOOR ALIAA BINTI NAWAWI
CD100216
FACULTY OF MECHANICAL ENGINEERING AND MANUFACTURING
UNIVERSITI TUN HUSSEIN ONN MALAYSIA

i. To identify the plant parameters, and
ii. To determine the transfer function of two
degree of freedom (DOF) rectilinear plant.
i. To configure the two degree of freedom
rectilinear plant for system identification
purposes
ii. Calculate the plant parameters, and
iii. Find the transfer function of two degree
of freedom (DOF) rectilinear plant.
2 DOF
PLANT
From
Laplace
Sum Of All
Forces
F=MA
Also can be expressed in this form for individual components
of transfer function where is the natural frequency and
is the damping ratio
Spring :
Low stiffness = 200N/m
High stiffness = 800N/m
Encoder 1 & 2
Dashpot
Electromechanical plant
System interface software
Real-time controller & I/O

Spring stiffness = 200N/m
Encoder 1 & 2
With mass (2kg)
Without mass
With dashpot
Spring stiffness = 800N/m
Encoder 1 & 2
With mass (2kg)
Without mass
With dashpot
Velocity
A total of 13 graphs
Must be obtained at
the end of this
experiment
With mass took longer time to oscillate and
vise versa.
Higher stiffness cause spring to oscillate
more compare to low stiffness.
With dashpot, spring will oscillate less
compare to without dashpot.
With mass :
High momentum
High vibration
High inertia
Took longer time
Low frequency
Low speed
Without mass
low momentum
low vibration
low inertia
Took less time
high frequency
high speed

With dashpot
low momentum
low vibration
low inertia
Took shorter time for neutralize
high frequency
high speed
Absorb vibration


K = 200N/m With mass, Encoder #1

Hz
s time
cycles
f 062 . 2
88 . 3
8
= =
E
=
t t t e 956 . 12 ) 062 . 2 ( 2 2
11
= = = f
dm
Rad/s
11
2
11
1 m
d
nm
,
e
e

=
s rad / 978 . 12
058 . 0 1
956 . 12
2
=

=
t
058 . 0
80
1400
ln
) 8 ( 2
1
ln
2
1
0
11
=
|
.
|

\
|
=
|
|
.
|

\
|
=
t t
,
n
m
X
X
n
K = 200N/m Without mass, Encoder #1

Hz
s time
cycles
f 4
75 . 1
7
= =
E
=
t t t e 133 . 25 ) 4 ( 2 2
11
= = = f
dm
11
2
11
1 m
d
nm
,
e
e

=
s rad / 206 . 25
076 . 0 1
72 . 2
2
=

=
t
076 . 0
50
1390
ln
) 7 ( 2
1
ln
2
1
0
11
=
|
.
|

\
|
=
|
|
.
|

\
|
=
t t
,
n
m
X
X
n
K = 200N/m With mass, Encoder #1
K = 200N/m Without mass, Encoder #1
The plant parameters can be determined.
The transfer function rectilinear plant can be
identified.
Able to understand the control of vibration of
translation mechanical system
Understand the application of damper.










Automatic Train
Car suspension and absorber system